Transformable imaging system

ABSTRACT

A transformable imaging system configured to operate in at least two configurations. A first configuration may be open and a second configuration may be closed. The closed configuration may allow for imaging in along an arc greater than 180 degrees.

CROSS-REFERENCE TO RELATED APPLICATIONS

The application is a continuation of U.S. patent application Ser. No.15/064,961 filed on Mar. 9, 2016. The entire disclosure of the aboveapplication is incorporated herein by reference.

The subject application includes subject matter similar to U.S. patentapplication Ser. No. 15/065,002 filed on Mar. 9, 2016, now U.S. Pat. No.9,855,015 issued on Jan. 2, 2018, and U.S. patent application Ser. No.15/065,071 filed on Mar. 9, 2016, both of which are incorporated hereinby reference.

FIELD

The subject disclosure relates to imaging system, including a system toimage an object via detection of transmitted radiation.

BACKGROUND

This section provides background information related to the presentdisclosure which is not necessarily prior art.

In performing various procedures, such as surgical procedures on a humanpatient, an imaging system may be used to image the patient. For examplea fluoroscopic system may be used to emit x-rays from a source that isdetected or received by a detector. Based upon the detection by thedetector, images are generated of the patient. Certain systems areadapted for use during a procedure, such as the ARCADIAS Avantic®Multi-Purpose C-Arm Imaging System sold by Siemens Medical SolutionsUSA, Inc. having a place of business in Malvern, Pa., USA.

Generally, a C-Arm imaging system includes a source generally opposed toa detector on a “C” shaped or curved arm that is fixed. The arm extendsalong an arc where the source is near one end of the arm and thedetector at the other end of the arm. The C-Arm may be moved relative tothe patient to acquire images at different relative positions, such asan anterior to posterior and medial to lateral image perspectives. Thearm, however, of the C-Arm, is generally a fixed arc dimension such thatends of the arm are fixed relative to one another based upon thegeometry of the arm.

SUMMARY

This section provides a general summary of the disclosure, and is not acomprehensive disclosure of its full scope or all of its features.

According to various embodiments, an imaging system is provided thatincludes a source and a detector. The source may emit a radiation, suchas x-ray radiation, that can be detected by the detector. An image maybe generated based upon the amount of radiation reaching the detector.The amount of radiation may be attenuated by a portion of a subject inthe path of the x-rays. The x-ray source and detector may be movedrelative to a subject being imaged according to a changeable ortransformable rotor that can assist in acquiring various types of imagedata.

A transformable imaging system can be used to efficiently acquire twodimensional image data based upon a single or limited number of subjectexposures or three-dimensional (3D) volumetric image data based upon aplurality of exposures. For example, in a first configuration, animaging system may have a “C” shaped arm that is less than annular andmay acquire image data less than 360 degrees around the patient. Theseimages may be best viewed or displayed as two dimensional images of asubject or may be used to generate 3D images of the subject. In a secondconfiguration the imaging system may have an “O” shape or an annularshape and acquire image data substantially around, such as 360 degreesaround, a subject based upon moving a detector and/or source through apath that is around or at a plurality of position relative to a subject.The annular or 360 degree acquisition of image data may allow forcrisper or clearer 3D images for display.

According to various embodiments a system may include a configurablehousing and/or rotor in and/or on which a detector and source may move.The detector and source may be operated in at least two manners basedupon at least two configurations of the imaging system. Therefore asingle system may be operable in two configurations to allow forversatility and flexibility of a single system.

Further areas of applicability will become apparent from the descriptionprovided herein. The description and specific examples in this summaryare intended for purposes of illustration only and are not intended tolimit the scope of the present disclosure.

DRAWINGS

The drawings described herein are for illustrative purposes only ofselected embodiments and not all possible implementations, and are notintended to limit the scope of the present disclosure.

FIG. 1 is an environmental view of at least a portion of a suiteincluding an imaging system in a first configuration, a tracking system,and a navigation system in accordance with an embodiment of the presentdisclosure;

FIG. 2 is an environmental view of at least a portion of a suiteincluding the imaging system in a second configuration, a trackingsystem, and a navigation system in accordance with an embodiment of thepresent disclosure;

FIGS. 3 to 6 illustrate schematic views of the imaging system in thefirst configuration in a series of positions;

FIGS. 7 to 9 illustrate schematic views of the imaging system changingfrom the first configuration to the second configuration in a series ofpositions;

FIG. 10A is a detailed view taken from FIG. 3 with members in a firstposition;

FIG. 10B is a perspective view of members illustrated in FIG. 10A in asecond position;

FIG. 11 is a perspective view of an imaging system, according to variousembodiments;

FIG. 12A is a side plan view of an imaging system, according to variousembodiments, in a first configuration;

FIG. 12B is a side plan view of an imaging system, according to variousembodiments, in a second configuration with segments extended;

FIG. 12C is a side plan view of an imaging system, according to variousembodiments, in a third configuration with segments extended;

FIG. 12D is a side plan view of an imaging system, according to variousembodiments, in a fourth configuration with segments extended;

FIG. 12E is a side plan view of an imaging system, according to variousembodiments, in a fifth configuration with segments extended;

FIG. 13 is a detail view of an end of the imaging system of FIG. 12Awith segments collapsed;

FIG. 14 is a detail view of an end of the imaging system of FIG. 12Dwith segments extended;

FIG. 15 is a top plan view of the imaging system of FIG. 12D withsegments extended;

FIG. 16A is an environmental view of an imaging system, according tovarious embodiments, with a source and detector located near each other;

FIG. 16B is an environmental view of an imaging system, according tovarious embodiments, with a source and detector located away each other;

FIG. 16C is an environmental view of an imaging system, according tovarious embodiments, with a source and detector located away each otherand a gantry in an alternate location;

FIG. 16D is an environmental view of an imaging system, according tovarious embodiments, with a source and detector located away each otherand a moveable portion of the gantry extended in an extended “C”-shape;

FIG. 16E is an environmental view of an imaging system, according tovarious embodiments, with a source and detector located away each otherand a moveable portion of the gantry extended in an “O”-shape;

FIG. 17 is a flowchart illustrating a first control scheme;

FIG. 18 is a flowchart illustrating a second control scheme; and

FIG. 19 is a flowchart illustrating a third control scheme.

Corresponding reference numerals indicate corresponding parts throughoutthe several views of the drawings.

DETAILED DESCRIPTION

The following description is merely exemplary in nature. It should beunderstood that throughout the drawings, corresponding referencenumerals indicate like or corresponding parts and features. The presentteachings are directed toward an imaging and a navigation system that isable to track an instrument and display it on a display. It isunderstood, however, that the systems disclosed herein may be applied tonon-surgical applications for imaging, tracking, navigation, etc. duringvarious repair or maintenance procedures on machinery, devices, etc.

Moving Sidewall Segmented Gantry

FIG. 1 shows an operating theatre (or inside of an operating room) 10and a user 12 (e.g., a physician) performing a procedure on a subject(e.g., a patient) 14 positioned on a table or surface 15. In performingthe procedure, the user 12 may use an imaging system 16 to acquire imagedata of the patient 14. The image data acquired of the patient 14 caninclude two-dimensional (2D) such as in a C-arm mode orthree-dimensional (3D) images such as in a computer tomography (CT)mode. Models, such as surface renderings or volumetric models, may begenerated using the acquired image data. The model can be athree-dimensional (3D) volumetric model generated based on the acquiredimage data using various techniques, including algebraic iterativetechniques. The image data (designated 18) can be displayed on a displaydevice 20, and additionally, may be displayed on a display device 32 aassociated with an imaging computing system 32. The displayed image data18 may include 2D images, 3D images, and/or a time changing 3D (alsoreferred to as 4D) images. The displayed image data 18 may also includeacquired image data, generated image data, and/or a combination of theacquired and generated image data.

Image data acquired of a patient 14 may be acquired as 2D projections.The 2D projections may then be used to reconstruct 3D volumetric imagedata of the patient 14, such as when a selected number of differingperspective images are acquired of the patient 14. Also, theoretical orforward 2D projections may be generated from the 3D volumetric imagedata. Accordingly, image data may be used to provide 2D projectionsand/or 3D volumetric models.

The display device 20 may be part of a computing system 22. Thecomputing system 22 may include a memory system 23 including one or avariety of computer-readable media. The computer-readable media may beany available media that is accessed by the computing system 22 and mayinclude both volatile and non-volatile media, and removable andnon-removable media. By way of example, the computer-readable media mayinclude computer storage media and communication media. Storage mediaincludes, but is not limited to, RAM, ROM, EEPROM, flash memory or othermemory technology, CD-ROM, Digital Versatile Disk (DVD) or other opticaldisk storage, magnetic cassettes, magnetic tape, magnetic disk storageor other magnetic storage devices, or any other medium which can be usedto store computer-readable instructions, software, data structures,program modules, and other data and which can be accessed by thecomputing system 22. The computer-readable media may be accesseddirectly or through a network such as the Internet.

In one example, the computing system 22 can include an input device 24,such as a keyboard, and one or more processors 26 (the one or moreprocessors may include multiple-processing core processors,microprocessors, etc.) that may be incorporated with the computingsystem 22. The input device 24 may include any suitable device to enablea user to interface with the computing system 22, such as a touchpad,touch pen, touch screen, keyboard, mouse, joystick, trackball, wirelessmouse, audible control or a combination thereof. Furthermore, while thecomputing system 22 is described and illustrated herein as comprisingthe input device 24 discrete from the display device 20, the computingsystem 22 may include a touchpad or tablet computing device and may beintegrated within or be part of the imaging computing system 32. Aconnection may be provided between the computing system 22 and thedisplay device 20 for data communication to allow driving the displaydevice 20 to illustrate the image data 18. Further, a communication line27 may be provided between the imaging computer system 32 and thecomputer system 22.

The imaging system 16 will be described in further detail herein, butmay include certain portions included in an O-Arm® imaging system. TheO-Arm® imaging system can include the O-Arm® imaging system sold byMedtronic, Inc. having a place of business in Colorado, USA. The imagingsystem may further include, in various embodiments, certain and selectedportions of the imaging systems described in U.S. Pat. App. Pub. Nos.2012/0099768, 2012/0097178, 2014/0313193, and 2014/0314199 and/or U.S.Pat. Nos. 7,188,998; 7,108,421; 7,001,045; and 6,940,941, all of whichare incorporated herein by reference.

In various embodiments, the imaging system 16 may include a mobile cart30, the imaging computing system 32 and a gantry 34. The gantry 34 mayinclude a member or fixed dimension element. The fixed dimension member34 may have a height 34 x at an upper surface or edge 34 y′ (such as ahighest point on the fixed dimension member 34) that is a selectedheight above a surface 34 y that supports the imaging system 30. Theheight may be about 4 feet (about 1.2 meters) to about 6 feet (about 1.8meters), may be five feet (about 1.5 meters) or less, or may be selectedsuch that a user that is five feet six inches (about 1.6 meters) tallmay easily see over the fixed dimension member 34. The imaging systemfurther include an x-ray source 36, a collimator (not shown), one orboth of a multi-row detector 38 and a flat panel detector 40, and arotor 42. With reference to FIG. 1, the mobile cart 30 may be moved fromone operating theater or room to another and the gantry 34 may be movedrelative to the mobile cart 30, as discussed further herein. This allowsthe imaging system 16 to be mobile and used for various procedureswithout requiring a capital expenditure or space dedicated to a fixedimaging system. Although the gantry 34 is shown as being mobile, thegantry 34 may not be connected to the mobile cart 30 and may be in afixed position.

The gantry 34 may define an isocenter 110 of the imaging system 16. Inthis regard, a centerline C1 through the gantry 34 may pass through theisocenter or center of the imaging system 16. Generally, the patient 14can be positioned along the centerline C1 of the gantry 34, such that alongitudinal axis 14 l of the patient 14 is aligned with the isocenterof the imaging system 16.

The imaging computing system 32 may control the movement, positioningand adjustment of the multi-row detector 38, the flat panel detector 40and the rotor 42 independently to enable image data acquisition via animage processing module 33 of the processor 26. The processed images maybe displayed on the display device 20. The imaging system 16 may beprecisely controlled by the imaging computing system 32 to move thesource 36, collimator, the multi-row detector 38 and the flat paneldetector 40 relative to the patient 14 to generate precise image data ofthe patient 14. It is understood, however, that the source 36, and thedetectors 38, 40 may be fixed at selected positions relative to therotor 42.

In addition, the imaging system 16 may be connected or in connectionwith the processor 26 via the connection 27 which includes a wired orwireless connection or physical media transfer from the imaging system16 to the processor 26. Thus, image data collected with the imagingsystem 16 may also be transferred from the imaging computing system 32to the computing system 22 for navigation, display, reconstruction, etc.

The imaging system 16 may also be used during an non-navigated ornavigated procedure. In a navigated procedure, a localizer may be usedto determine location of tracked members and portions. The trackedmembers and portions may include the patient 14, the imaging system 16,the user 12, tracked instruments (e.g. drills, awls, probes), etc. Thelocalizer may be one or both of an optical localizer 60 or anelectromagnetic localizer 62. The localizer may further include anultrasound localizer, a radar localizer, etc. The localizer may be usedto generate a field or receive or send a signal within a navigationdomain relative to the patient 14. If desired, the components associatedwith performing a navigated procedure (e.g. the localizer) may beintegrated with the imaging system 16. The navigated space ornavigational domain relative to the patient 14 may be registered to theimage data 18 to allow registration of a navigation space defined withinthe navigational domain and an image space defined by the image data 18.A patient tracker (or a dynamic reference frame) 64 may be connected tothe patient 14 to allow for a dynamic registration and maintenance ofthe registration of the patient 14 to the image data 18. It isunderstood, however, that imaging systems are not required to be usedwith a navigation or tracking system. Imaging systems, including thosedisclosed herein, may be used for imaging and evaluation of image datawith navigation.

One or more instruments may be tracked within the navigational domain,including relative to the patient 14. Instruments may include aninstrument 66 that may then be tracked relative to the patient 14 toallow for a navigated procedure. The instrument 66 may includerespective optical tracking devices 68 (including active or passivetracking devices, including those discussed herein) and/or anelectromagnetic tracking device 70 (shown in phantom) to allow fortracking of the instrument 66 with either or both of the opticallocalizer 60 or the electromagnetic localizer 62. The instrument 66 mayinclude a communication line 72 a with a navigation interface device(NID) 74. The NID 74 may communicate with the electromagnetic localizer62 and/or the optical localizer 60 directly or via the processor 26 viacommunication lines 60 a and 62 a respectively. The NID 74 maycommunicate with the processor 26 via a communication line 80. Theimaging system 16 may also communicate with the NID 74 via acommunication line 81. The connections or communication lines can bewire based as shown or the corresponding devices may communicatewirelessly with each other.

The localizer 60 and/or 62 along with the selected tracking devices maybe part of a tracking system that tracks the instrument 66 relative tothe patient 14 to allow for illustration of the tracked location of theinstrument 66 relative to the image data 18 for performing a procedure.The tracking system alone or in combination with a navigation system isconfigured to illustrate a tracked location (including a tracked 3Dposition (i.e. x,y,z coordinates) and one or more degrees of freedom oforientation (i.e. yaw, pitch, and roll)) relative to the image data 18on the display 20. Various tracking and navigation systems include theStealthStation® surgical navigation system sold by Medtronic, Inc. andthose disclosed in U.S. Pat. Nos. 8,644,907; 8,467,853; 7,996,064;7,835,778; 7,763,035; 6,747,539; and 6,374,134, all incorporated hereinby reference. As is generally understood, the processor 26 may executeselected instructions to illustrate a representation (e.g. an icon) ofthe tracked portion relative to the image data 18.

The instrument 66 may be interventional instruments and/or implants.Implants may include a ventricular or vascular stent, a spinal implant,neurological stent or the like. The instrument 66 may be aninterventional instrument such as a deep brain or neurologicalstimulator, an ablation device, or other appropriate instrument.Tracking the instrument 66 allow for viewing the location of theinstrument 66 relative to the patient 14 with use of the registeredimage data 18 and without direct viewing of the instrument 66 within thepatient 14. For example, the instrument 66 may be graphicallyillustrated as an icon, as discussed further herein, superimposed on theimage data 18.

Further, the imaging system 16 may include a tracking device, such as anoptical tracking device 82 or an electromagnetic tracking device 84 tobe tracked with a respective optical localizer 60 or the electromagneticlocalizer 62. The tracking devices 82, 84 may be associated directlywith the source 36, multi-row detector 38, flat panel detector 40, rotor42, the gantry 34, or other appropriate part of the imaging system 16 todetermine the location of the source 36, multi-row detector 38, flatpanel detector 40, rotor 42 and/or gantry 34 relative to a selectedreference frame. As illustrated, the tracking devices 82, 84 may bepositioned on the exterior of the housing of the gantry 34. Accordingly,portions of the imaging system 16 may be tracked relative to the patient14 to allow for initial registration, automatic registration, orcontinued registration of the patient 14 relative to the image data 18.The known position of the rotor 42 relative to the gantry 34, on whichthe tracking devise are placed, may be used to determine the position ofthe rotor 42 and the include detectors 38, 40 and source 36.Alternatively, or in addition thereto, the tracking devices may beplaced directly on the rotor 42 and/or the source 36 and detector 38,40.

As discussed above, the user 12 can perform a procedure on the patient14. The user 12 may position the instrument 66 relative to, such aswithin, the patient 14. For example, the instrument 66 can include anawl, tap, a probe, a screwdriver, an instrument to hold or position oneor more screws, a rod, or the light. The instrument 66 may be tracked,as discussed above, and the location determined relative to the patient14 and/or the imaging system 16.

An operative or operating portion (which may be a detachable portion) ofthe instrument 66 may be positioned subdermally and transdermally. Invarious embodiments, the portion of the instrument 66 positionedsubdermally are positioned through a small incision or stab wound formedon or in the patient 14. Therefore, direct viewing, such as with visualviewing directly by the user 12 may be substantially hindered and/orimpossible due to the overlayment of soft tissue including dermis,muscle, and the like. Therefore, the tracking and navigation systems, asdiscussed above, can be used to display representations of theinstrument 66 relative to the image data 18 on display 20.

With continuing reference to FIG. 1, the operating theater can includethe imaging system 16 that includes a transformable portion that maychange configuration based upon a selected instruction. Thetransformable or multiple configurable imaging system 16 may include therotor 42 having at least a fixed length portion or segment 44 in a “C”shape configuration, as illustrated in FIG. 1 or the rotor portion in an“O” shape configuration rotor 42′, as illustrated in FIG. 2. The imagingsystem 16 when in the “C” shaped configuration may not enclose a circleand includes an opening 43 that is a side opening or laterally from anoutside of the rotor 42. When the imaging system is in the “C” shapeconfiguration rotor 42 it may operate as a C-arm. The opening 43 allowsaccess to the patient 14 from the user 12 even when the imaging system16 is near the patient 14. A complete circle (as illustrated in FIG. 9)does not allow side access to the patient 14 through the “O” shapeconfiguration rotor 42′.

The moveable rotor 42 may move relative to the gantry 34, as discussedherein. The gantry 34 may have a fixed configuration and the rotor 42moves relative to the gantry 34 due to coupling of a rotor drive system100, as discussed further herein, to allow for movement of the rotor 42relative to the gantry 34. The drive system 100 can be operated by thecomputer system 32, as also discussed further herein.

Turning reference to FIG. 2 the imaging system 16 can be transformed orconfigured to include the “O” shaped configuration rotor 42′. The “O”shaped configuration rotor 42′ does not include the side opening 43, butincludes a substantially annular configuration. When the imaging system16 is in the “O” shaped configuration rotor 42′ it may be operated as aCT mode or as the O-Arm® imaging system. The rotor drive 100 may stillbe operated to move the “O” shaped configuration rotor 42′ relative tothe gantry 34, but the “O” shaped configuration rotor 42′ may move in atleast a 360° circle around the subject 14 that may be placed within the“O” shaped configuration rotor 42′. The subject 14 may be placed withinthe annular portion of the “O” shaped configuration rotor 42′ by firsthaving the “C” shaped configuration rotor 42, as illustrated in FIG. 1,moved relative to the patient 14 and then changing or transforming theimaging system 16 to the “O” shaped configuration rotor 42′, asillustrated in FIG. 2, as discussed further herein.

Returning reference to FIG. 1, the imagining system 16 in the “C” shapedconfiguration rotor 42 may operate as a conventional C-arm, includingthose discussed above. With additional reference to FIGS. 3-6, theimaging system 16 in the “C” shaped configuration rotor 42 can generallymove at least 180° around an isocenter 110 using the rotor drive 100.The source 36 is positioned substantially opposed to the detector orplurality of detectors 38, 40. The source 36 may be positioned away froma base 112 of the cart or a floor.

The “C” shaped configuration rotor 42 may be rotated generally in thedirection of arrow 114 along a distance or arc length 116 relative to anend of the gantry 34. It is understood that the arc length 116 can beany appropriate arc length, and is illustrated in FIG. 4 as exemplaryindicating a possible position or movement of the “C” shapedconfiguration rotor 42. The “C” shaped configuration rotor 42 may thencontinue to move generally in the direction of arrow 114 including anarc length distance 118 relative to an end of the gantry 34. The “C”shaped configuration rotor 42 may be held on the gantry 34 with anappropriate amount, such as a maintaining or connecting leg portion 120that may extend between a first terminal end 122 and a stop point 124.It is understood that the holding portion 120 can be based on variousconsiderations such as the rigidity or mass of the overhang length 130,weight of the “C” shaped configuration rotor 42, strength or rigidity ofthe gantry 34, and other considerations. Further, it is understood, thatthe arc length 118 may be selected based upon the position of the drive100 and other mechanical and connections to allow for movement of the“C” shaped configuration rotor 42.

With specific reference to FIG. 6, the “C” shaped configuration rotor 42may also rotate in a substantially opposite direction, such as in thedirection of arrow 115, from that illustrated in FIG. 5. In moving inthe direction of arrow 115, the first terminal end 122 extends away fromthe gantry 34. The first terminal end 122 may also be moved an arclength 118′ that may be substantially equal in length to arc length 118.Further an overhang or connecting length 120′ may be the distancebetween a minimal overhang or contact point 124′ and a second terminalend 132 of the “C” shaped configuration rotor 42.

Accordingly, it is understood that the “C” shaped configuration rotor 42may move relative to the gantry 34 of the imaging system 16 a selectedor maximum amount of movement. Generally the movement may be about 180°,such that allowing the detector 38, 40 to move at least 180° around theisocenter 110 at which the patient 14 may be positioned. In other words,the movement of the detector 38, 40 may be limited to about 180° oftotal movement around the isocenter 110. It is further understood,however, that the detector 38, 40 may move less than or greater than180°, including about 150° to about 270° around the isocenter 110.

With continuing reference to FIGS. 1 and 3-6, the imagining system 16 inthe “C” shaped configuration rotor 42 that includes the open space 43,can be operated in a manner substantially similar to a generally knownC-arm. In the “C” shaped configuration rotor 42, generally fluoroscopicimages or two dimensional (2D) images may be acquired of the patient 14.The two dimensional or fluoroscopic images may be used to efficientlyacquire image data the patient 14 during an operative procedure, asillustrated in FIG. 1. The “C” shaped configuration rotor 42 includingthe opening 43 may also allow for an efficient movement of the imagingsystem 16 relative to the subject 14.

Further, the opening 43 may allow easy access to the patient 14 duringimaging to allow the user 12 to perform a procedure with the imagingsystem 16 positioned relative to the patient 14, such as in a positionto acquire intra-operative images of the patient 14. Thus, the opening43 may assist the user 12 in performing a procedure on the patient 14 byallowing the user 12 to acquire intra-operative images data for viewingon the display 20. The image data 18 can be used to update the user 12regarding the procedure, including confirmation of a procedure,positioning of an implant, or other portions thereof.

According to various embodiments, the user 12 may access the patient 14while the patient is at the isocenter 110 of the imaging system 16through the side opening 43. Thus, the user 12 may image the patient 14during the procedure to assist in the procedure, such as implantplacement. The imaging system 16, therefore, need not be removed duringa procedure. Also, as discussed herein, the imaging system 16 may betransformed into the “O” shaped configuration rotor 42′ to acquireadditional image data, such as image data for a 3D image of the patient14. The single imaging system may provide the user 12 with differenttypes of image data at different times without requiring separateimaging systems.

In addition to rotating generally along a path defined by the gantry 34,the “C” shaped configuration rotor 42 may move or pivot around an axis140 that may extend generally perpendicular to the long axis 142 (asillustrated in FIG. 4) of the base 112 or the axis 141 of the patient14. Further, the long axis 142 may be generally parallel to the floor orsupport surface on which the imaging system 16 is placed. The centralaxis 140 may allow for a swivel or rotation around the patient 14generally in the direction of arrow 144. Alternatively, or in additionpossible motions of the imaging system are also illustrated in FIG. 4Aas discussed herein.

The movement around the axis 140 in the direction of arrow 144 may beallowed by a spindle or axle 146 that extends from the base 112 and isdriven by a gantry drive 150 via a coupling 151. Thus, the gantry mayrotate around the axle 146 allowing the “C” shaped configuration rotor42 to also rotate. Further, the gantry 34 may also be moved with aconnection 147, similar to the gantry movement systems discussed aboveand including in the O-arm® imaging system. The gantry drive 150 maythen be coupled to the connection 147. The gantry drive 150 may besimilar to the rotor drive 100, discussed above, and further herein, orany appropriate drive including worm gear, a hydraulic system, apneumatic system, an electrical motor, a serpentine belt drive, or otherappropriate drive or connection system.

It is understood, as illustrated in FIG. 4A, that the connection 147 maybe eliminated or moved to allow for the rotation in the direction ofarrow 144. The connection 147 may allow for other movements, asdiscussed herein, but may restrict a rotation around the axis 140. Thus,the axle 146 may interconnect the gantry 34 and the base 112 to allowfor rotation of the gantry 34 around the axis 140. The drive 100,therefore, may be moved relative to the base 112 and be connected (e.g.with a belt) to the gantry 34 and/or rotator 42 for movement of therotor 42.

Alternatively, or in addition to the axle 146, the “C” shapedconfiguration rotor 42 may rotate relative to the gantry 34 byinterconnection with an axle 160 that extends from the gantry 34 andengages the moveable rotor 42, such as via a recess track or otherappropriate connection. Therefore the gantry 34 may be fixed relative tothe base 112 while the rotor 42 rotates relative to the gantry 34. Theamount of rotation generally in direction of arrow 144 may be selectedor limited to a configuration of the imaging system 16. The rotation,however, may include about 180° rotation around the axis 140.

Further, the gantry may also move in selected movements relative to thecart 30, including the base 112. As discussed herein, the gantry maymove independent of the “C” shaped configuration rotor 42 via the axle146 or the connection 147. The movements may allow for iso-sway, lineartranslation, etc. of the gantry to further move the “C” shapedconfiguration rotor 42.

Returning reference to FIG. 2 and additional reference to FIGS. 7-9, theimaging system 16 may be transformed or reconfigured to include the “O”shaped configuration rotor 42′, is illustrated in FIG. 2 and FIG. 9. Theimaging system 16 including the “C” shaped configuration rotor 42, asillustrated in FIG. 3. As discussed herein, one or more moveablesegments may move to change the “C” shaped rotor 42 to the “O” shapedrotor 42′. Various exemplary embodiments of the moveable segments arediscussed herein.

The “C” shaped configuration rotor 42 when changing to the “O” shapedconfiguration rotor 42′ can include intermediate shapes, such as one ortwo intermediate shapes, as generally illustrated in FIGS. 7 and 8. Forexample the “C” shaped configuration rotor 42 may include a firstmoveable segment 180 and a second moveable segment 182. The first andsecond moveable segments 180, 182 can extend from the respectiveterminal ends 132 and 122 of the “C” shaped configuration rotor 42. Themoveable segments 180, 182 may be held or stored within the “C” shapedconfiguration rotor 42 when the “C” shaped configuration rotor 42 is inthe “C” shaped configuration, as illustrated in FIG. 3, and extends whena command is provided to move the moveable segments 180, 182 to form the“O” shaped configuration rotor 42′.

A drive 200 and/or a drive 206 may be provided to move the moveablesegments 180, 182. It is understood, however, that the drive 100 mayalso move the moveable segments 180, 182. The first and second moveablesegments 180, 182 can extend from the respective terminal ends 132 and122 of the “C” shaped configuration rotor 42 generally in the directionof arrows 180′ and 182′, respectively, as illustrated in FIG. 7. Themoveable segments 180, 182 may also move generally radially outward oraway from the isocenter 110 in the directions of arrows 180″ and 182″.The first moveable segment 180 includes an outer edge with teeth 181 andthe second moveable segment includes a second outer edge with teeth 183.The movement of the moveable segments 180, 182 allows for the outeredges to be aligned with the outer edge of the fixed length segment 44.

Further, as illustrated in FIG. 8, a third moveable segment 184 canextend from the first moveable segment 180 and a fourth moveable segment186 can extend from the second moveable segment 182 by being driven bythe drives 100, 200, and/or 206 as described above. The third moveablesegment may also move in an arc along arrow 184′ and radially in thedirection of arrow 184″. Further, the fourth moveable segment 186 maymove in an arc along arrow 186′ and radially in the direction of arrow186″, similar to the movements described above. These movements allowrespective outer edges with teeth 185 and 187 to be aligned with theouter edge of the fixed length segment 44. The third and fourth moveablesegments 184,186 can then meet or join at a joint region 190, asillustrated in FIG. 9.

Each of the moveable segments 180, 182, 184, 186 can be held or storedwithin the “C” shaped configuration rotor 42 and extend therefrom upon acommand by a user, such as the user 12, to reconfigure the imagingsystem 16 into the “O” shaped configuration rotor 42′. The movements ofthe segments 180, 182, 184, 186 can be in the appropriate manner,including those discussed further herein.

As illustrated in FIG. 2 and FIG. 9, the “O” shaped configuration rotor42′ can extend annularly, generally about 360 degrees, around theisocenter 110 at which the patient 14 may also be placed. The patient 14may be placed on the table 15 to be imaged with the “O” shapedconfiguration rotor 42′ by moving the imaging system 16 near or adjacentto the table 15 with the patient 14 placed when the imaging system is inthe “C” shaped configuration rotor 42. After moving the imaging systemto have the patient 14 at a selected relative location, e.g. at theisocenter 110, the command can be entered (e.g. with the input 24 ordirectly to the imaging computer 32) to reconfigure the imaging system16 to the “O” shaped configuration rotor 42′. The “O” shapedconfiguration rotor 42′ can then rotate around the patient 14, includingaround the long axis 141 of the patient 14. The long axis 141 (asillustrated in FIG. 1) of the patient 14 may generally be placed suchthat it intersects the isocenter 110 of the imaging system 16. Therotation of the “O” shaped configuration rotor 42′ can be generally inthe direction of arrow 196 around the long axis 141 and the isocenter110.

It is understood, however, that the “O” shaped configuration rotor 42′,as illustrated in FIG. 2 and FIG. 9, may also move relative to theisocenter 110 in other movements. For example the gantry 34 may be movedrelative to the isocenter 110 linearly along the long axis 141, such asgenerally in the direction of arrow 198 a. The gantry 34 also may bemoved generally perpendicular to the long axis 141 generally indirection of arrow 198 b. Still further, the gantry 34 may also be movedangularly relative to the long axis generally in the direction of arrow198 c, all is illustrated in FIG. 2. The movements of the gantry 34 maybe with the gantry drive 150, discussed above, and due to theconnections of the axle 146 or the connection 147.

When the imaging system 16 has been reconfigured to the “O” shapedconfiguration rotor 42′ the source 36 and the detectors 38, 40 can movegenerally in a path relative to the patient 14. The path may be at least360° around the patient to acquire image data substantially in an entirecircle 360° round the patient 14. The path of the detector 38, 40,however, need not be circular and may be spiral, less than a circle, ortravel over a portion of path previously completed to acquire imagedata. The path may be defined by movements of the rotor 42 and/or thegantry 34. In acquiring the image data around the patient 14, such as360°, a volumetric reconstruction can be made of the patient 14 usingthe image data acquired around the patient. The image data acquired andthe reconstruction thereof can be known according to various techniquesincluding those disclosed in U.S. Pat. App. Pub. Nos. 2012/0099768,2012/0097178, 2014/0313193, and 2014/0314199 all incorporated herein byreference. For example, the image data can be acquired at the pluralityof the angles relative to the patient 14 to identify or determine thegeometry of the structures being in imaged. Nevertheless, when theimaging system 16 is in the “O” shaped configuration rotor 42′ thepatient 14 can be imaged substantially completely angularly around thepatient 14.

Accordingly, as illustrated above, the imaging system 16 may beconfigurable between the “C” shaped configuration rotor 42, asillustrated in FIG. 1, and the “O” shaped configuration rotor 42′, asillustrated in FIG. 2. This can allow the imaging system 16 to acquireimage data according to different techniques while allowing the user 12to access the patient 14 during an operative procedure. As discussedabove, when in the “C” shaped configuration rotor 42 the user 12 mayhave substantially free access to the patient 14 through the opening 43,as illustrated in FIG. 3. However, if it is desired or selected toacquire image data for a more complete volumetric reconstruction, theimaging system 16 can be reconfigured to include the “O” shapedconfiguration rotor 42′ as illustrated in FIGS. 2 and 9.

With continued reference to FIGS. 7-10B, the drive 200 of the imagingsystem 16 may be coupled between the fixed length segment 44 of therotor 42 and the moveable segments 180, 182, 184, 186. The drive 200 canoperably move the segments 180, 182, 184, 186 to reconfigure the imagingsystem between the “C” shaped configuration rotor 42 and the “O” shapedconfiguration rotor 42′. The drive 200 can be provided in variousconfigurations or types including an electric motor, a hydraulic motor,a pulley and cable system driven by a selected motor, a pneumaticsystem, a belt drive system including a belt driven by the drive 200, orthe like including linkages to the segments 180, 182, 184, 186. Asdiscussed further herein the drive 200 can interconnect to the segments,such as the first segment 180, to move the first segment 180 relative tothe fixed length segment or portion 44.

As also discussed further herein the first segment 180 can be moved to aposition within an internal wall 204, as illustrated in FIG. 10A, of thefixed length portion 44. It is further understood that various linkages,including rigid, flexible, and multi member linkages, may connect thefixed length segment 44 and the moveable segments 180, 182, 184, 186 tomove the segments 180-186 relative to fixed length segment 44. Furtheran additional drive, including the drive 206 may be provided to engage aselected number of segments, including the second and fourth segments182,186 to move those segments relative to the fixed length segment 44while the first drive 200 moves only the first and the third segments180, 184. Further, it is understood that any appropriate number of themoveable segments may be provided, including less than the four or morethan the four moveable segments 180, 182, 184, 186. Also, any selectednumber of the moveable segments may be provided to extend from only oneend of the fixed length segment 44.

With continued reference to FIG. 9, the imaging system 16 includes thegantry 34 positioned or moveable relative to the cart 30. The cart 30can include the portions as described above, including the computer 32and the monitor 32 a. The gantry 34 may have mounted thereon the drive100 that can include various portions to engage the rotor 42, 42′ tomove the rotor 42, 42′ relative to the gantry 34 and relative to thecart 32. According to various embodiments, the fixed length segment 44may include an engageable portion, such as a tooth edge or a track 210that can be engaged by a driver portion 212, which may include a belt orwheel. The driver portion 212 may include at least one tooth (notillustrated) to engage the tooth 210 of the track portion of the fixedlength segment 44.

The movement of a motor of the drive 100, which may be driven by amotor, including an electric motor, a hydraulic motor, or otherappropriate motor, can move the drive portion 212 to move the fixedlength segment 44 as illustrated in FIGS. 4-6. Accordingly the source 36and the detector 38, 40 can be moved relative to the patient 14 that ispositioned within an opening of the fixed length segment 44. X-rays maybe emitted from the emitter 36 and detected on the detector 38, 40 forgeneration of image data 18. The gantry 34 can also move relative to thecart 30, using the gantry drive 150, as discussed above, which may be anelectrical drive system, a hydraulic drive system, or the like to movethe gantry 34 relative to the patient 14. The gantry 34, therefore, maymove relative to the cart 30 and the patient 14. As the fixed lengthsegment 44 is connected to the gantry 34 the fixed length segment 44 mayalso move in these directions relative to the patient 14 and the cart 30with the gantry 34.

With continued reference to FIG. 9, the segments 180, 182, 184, and 186can extend from the fixed length segment 44 to form “O” shapedconfiguration rotor 42′. The moveable segments 180, 182, 184, and 186include the external surfaces 181,183, 185 and 187, respectively, thatcan be moved to be coextensive or extend from the tooth track 210 on thefixed length segment 44. As discussed above, the moveable segments maymove in both arcuate or curved paths and linear paths (e.g. radiallyfrom center of the arc) to form a continuous track for the “O” shapedconfiguration rotor 42′. Accordingly when the segments 180, 182, 184,and 186 are extended from the fixed length segment 44 the tooth track210 of the fixed length segment 44 can continue to substantiallycontinuously and smoothly 360° in the “O” shaped configuration rotor 42′by connection with the exterior surfaces 181,183, 185 and 187 of thesegments 180, 182, 184, and 186. Therefore, the “O” shaped configurationrotor 42′ can be driven by the drive 100 at least 360° around thepatient 14 to acquire images of the patient 14.

The emitter 36 and the detectors 38, 40 can remain substantiallyrelative to the fixed length segment 44 while the “O” shapedconfiguration rotor 42′ rotates around the patient 14 to acquire theimage data of the patient 14. In other words, the emitter 36 and thedetector 38, 40 need not move relative to the fixed length segment 44 toachieve rotation or movement around the patient 14. Further, any or allof the emitter 36 and the detector 38, 40 may be placed betweensidewalls of the fixed length segment 44, as illustrated in FIGS. 10Aand 10B. Thus, when rotating the O″ shaped configuration rotor 42′ thepatient is not substantially exposed to the emitter 36 and the detector38, 40. A top wall may also be provided to further protect or shield thepatient from the emitter 36 and the detector 38, 40.

The movement of the gantry 34, including either the fixed length segment44 and the “C” shaped configuration rotor 42 or the “O” shapedconfiguration rotor 42′, can be operated by a drive signal from thecomputer 32 to the drive 100. The drive signal can include a distanceand speed of movement signal for gantry 34 and the rotor 42, 42′relative to the patient 14. Thus, the drive signal from the computer 32can include movements generally along the arrows 198 a, 198 b, and 198c. The computer 32 can provide a drive signal to move the fixed gantry34 and/or the rotation of the gantry 42, 42′ to move the detector 38, 40and/or emitter 36 relative to the patient 14. Possible drive scans canbe provided by user 12 or other operators as disclosed in U.S. patentapplication U.S. Pat. App. Pub. Nos. 2012/0099768, 2012/0097178,2014/0313193, and 2014/0314199, all incorporated herein by reference.

With additional reference to FIGS. 10A and 10B, the rotor 42 includingsegments 182 and 186 are illustrated in cross section from FIG. 3. Thefixed length segment 44 can include the first exterior wall 204 and asecond exterior wall 230. The two exterior walls 204, 230 can beinterconnected by a bottom or exterior wall 232 or a plurality ofreinforcing struts or members. The drive track including the teeth 210can be formed into at least one edge of the outer wall 232 or formed onone of the exterior walls 204, 230. The detectors 38, 40 may also besubstantially confined or placed within a volume defined between thesidewalls 204, 230. The emitter 36 may also be similarly positionedopposed to the detectors 38, 40. An inner cover or inner annular wall237 may also be provided to complete a volume within the fixed lengthsegment 44 to cover the emitter 36 and the detector 38, 40.

The segments 182 and 186 can be drawn into or between the two wallmembers 204, 230, as illustrated in FIGS. 10A and 10B. The segments 182and 186 need not have a bottom panel that is coextensive with the bottompanel 232 of the fixed length segment 44, but can be separate wallmembers, including a first wall member 182 a and a second wall member182 b and the fourth segment 186 can include a first wall member 186 aand a second wall member 186 b. It is understood, however, thatconnecting members 182 c and 186 c can optionally interconnect therespective wall members 182 a, 182 b and 186 a and 186 b.

Regardless of the specific configuration of the moveable segments 182,186, the segment drive 200 and/or 206 can include a linkage 240 coupledto the second segment 182 and a second linkage 242 coupled to the fourthsegment 186. The linkages 240, 242 can include hydraulic linkages,cables, fixed bar linkages, articulated bar linkages, or otherappropriate linkages. According to an appropriate configuration thedrive 200 and/or 206 can operate the linkages 240, 242 to move thesecond segment 182 and the fourth segment 186 relative to the fixedlength segment 44 to move the segments 182, 186 between the “C” shapedconfiguration rotor 42 the “O” shaped configuration rotor 42′.Appropriate clearances can be provided between the segments 182, 186 andthe fixed length segment 44 and the detectors 38, 40 of the imagingsystem 16. The segments 182, 186 can move on selected rails or trackwithin the fixed length segment 44 to change between the “C” shapedconfiguration rotor 42 the “O” shaped configuration rotor 42′.

A lock device may also be provided to lock any of the moveable segments180, 182, 184, and 186 relative to one another and/or the fixed lengthsegment 44. The lock device may include a moveable pin or member thatmoves to engage at least two of the moveable segments 180, 182, 184, 186and/or the fixed length segment 44. The lock device may also includelocking or fixing the selected drives 100, 200, and/or 206. The lockdevice, however, holds the various segments in the selectedconfigurations.

Accordingly, the imaging system 16 that may include the rotor 42, 42′may have the fixed length segment 44 and the movable segments 180, 182,184, 186. The moveable segments 180, 182, 184, 186 can be moved relativeto the fixed length segment 44 of to change the form of the imagingsystem between the C″ shaped configuration rotor 42 the “O” shapedconfiguration rotor 42′. It is further understood that the first segmentand the third segment 180, 184 can also move relative to the fixedlength segment 44 of the gantry 42 in a manner similar to thatillustrated and described as relative to the second and fourth segments182, 186. The computer 32 may also be used to operate movement of thesegments 180, 182, 184, 186 to reconfigure the transformable imagingsystem 16 from the “C” shaped configuration rotor 42 the “O” shapedconfiguration rotor 42′, and vice versa. Also, the moveable segments maybe provided in any appropriate number.

As illustrated in FIGS. 7-9, in various embodiments, the moveablesegments 180, 182, 184, 186 may move from two ends of the fixed lengthportion 44. In the illustrated embodiment, opposing segments such as 184and 186 move towards one another to complete the “O” shaped rotor 42′.It is understood, however, that various embodiments may differ from thespecific example illustrated, but may incorporate portions of thespecific embodiment illustrated in FIGS. 7-9.

In various embodiments, moveable segments, such as all of the moveablesegments may extend from only one end (also referred to as a “top” or a“bottom”) of the fixed length rotor segment 44. For example, rather thanthe moveable segments 184 and 186 moving towards one another, all of themoveable segments may collapse to one end of the fixed length segment 44to form the “C” shaped rotor 42, such as near a bottom near the spindle146, and then move out and towards a top of the fixed length segment 44.Upon reaching the top the moveable segments would then form the “O”shaped rotor 42′. The moveable segments may be stacked verticallyrelative to one another prior to moving to change the shape of therotor. Further, the segments may telescope out to change the shape ofthe rotor.

In various embodiments, the number of moveable segments may be anyappropriate selected number. For example, one, two, three, five, or moremoveable segments may be provided. The arc length of each moveablesegment may be selected, therefore, to configure the gantry from the “C”shaped rotor 42 to the “O” shaped rotor 42′. Thus, two moveable segmentsmay include one moveable segment that moves from the bottom and anotherthat moves from the top of fixed length portion 44 to meet to form the“O” shaped rotor 42′. Further, a single moveable segment may move fromone end of the fixed length portion 44 to contact the other end to formthe “O” shaped rotor 42′.

In various embodiments, as illustrated in FIG. 11, the imaging system 16may include a two portion moveable segment, having a first portion 213and a second portion 215. The first portion 213 may extend from a firstend 217 of the fixed length segment 44. The second portion 215 mayextend from a second end 219 of the fixed length segment 44. Eachportion 213, 215 moves in the direction of the respective arrows 213′and 215′ towards the opposing ends 217, 219 of the fixed length segment44. It is understood, however, that both of the portions 213, 215 maymove in the same direction from one of the ends 217 or 219 towards theother 217 or 219 rather than the two portions 213, 215 moving fromopposing ends of the fixed segment 44. The movement of the first andsecond portions 213, 215 may operate in a manner similar to movement ofthe moveable segments discussed above. Further, movement of the firstand second portions 213, 215 causes the “C” shaped rotor 42 to betransformed to the “O” shaped rotor 42′.

Each of the first and second portions 213, 215 includes an arc lengthgreat enough to complete the “O” shaped rotor 42′. Each of the first andsecond portions 213, 215, however, only forms one side or surface of the“O” shaped rotor 42′. For orientation only, for example, the firstportion 213 forms the left side and the second portion 215 forms theright side. In other words, each of the portions 213, 215 are near oradjacent to one of the exterior sidewalls 204, 230 of the fixed lengthsegment 44.

Each of the first and second portions 213, 215 may include trackportions to complete the track for movement of the source 36 and thedetector(s) 38, 40 or the track to move the “O” shaped rotor 42′relative to the gantry 34. In various embodiments, the fixed lengthsegment 44 may form about 180 degrees of a circle and each of the firstand second portions 213, 215 may each form about 180 degrees of acircle. Thus, movement of the first and second portions 213, 215 mayform the “O” shaped rotor 42′. It is also understood that each of theportions 213, 215 may be formed of multiple members to form the firstand second portions 213, 215.

Telescoping Segmented Gantry

In various embodiments, including those discussed above, the imagingsystem 16 can be provided as specifically illustrated, including inFIGS. 1 and 2, or may be altered or replaced with various featuresincluding those discussed further herein. With initial reference toFIGS. 12A-12E, an imaging system 316 is illustrated. The imaging system316 can included portions and features that are substantially identicalto the imaging system 16 discussed above. For example, the imagingsystem 316 can include the cart 30, the imaging computer 32, the base112, the connection or arm 147, and at least one drive motor ormechanism 100. The imaging system 316 may also be augmented to includeportions of the imaging system 16, as discussed above, as understood byone skilled in the art. Nevertheless, the imaging system 316 can includecertain features as discussed further herein.

The imaging system 316 may include a gantry 334 that has an unchanginggantry portion or segment 334 a. The unchanging portion 334 a may alsobe referred to as a static or non-adjustable portion. In variousembodiments, the static portion 334 a has a fixed dimension (e.g. an arclength) and other segments may move relative to the static segment 334a. For example, the unchanging gantry portion 334 a can form or definean arc that has a center, such as an isocenter of an imaging system,which is less than 180°. The unchanging portion 334 a forms at least apart of an arc between a first end 334 a′ and a second end 334 a″.Further, the unchanging portion 334 a may have a height 334 x at anupper most or highest point 334 y′ of the unchanging portion 334 a abovea surface 334 y, such as a floor on which the imaging system 316 isplaced, that is about five feet (about 1.5 meters) or less, includingabout five feet six inches (about 1.6 meters) in height. It isunderstood by one skilled in the art that the height of the unchangingportion 334 a may be selected for various purposes, such as to allow auser of a selected height to see over the unchanging portion 334 a.

According to various embodiments therefore, the imaging system maydefine a maximum dimension that is less than a selected amount. Forexample, the unchanging gantry portion 334 a may further include aheight or upper dimension that may be no higher or shorter than eye orsight line level of an average person that may move the imaging system316. This may assist in ease of movement of the imaging system andviewing relative to the imaging system 316, especially when an operatormoves the cart 30 of the imaging system 316. The gantry 334, having theunchanging gantry portion 334 a, therefore, allows for a smallerdimension extending from a portion of the cart 30 opposite or away fromthe monitor 32 a, where an operator may be positioned when moving thecart 30. Thus, the imaging system 316 allows for a selected clearanceand efficient mobility.

The gantry 334 can include one or more outer wall segments, such as fourouter wall segments 350, 352, 354, and 356 (see FIGS. 13 and 14) thatform a cross-section with a volume inside of the wall segments 350, 352,354, and 356. The cross-section may be a selected geometry. For example,as illustrated, the cross-section may include a rectangularcross-section.

The gantry 334, therefore, can define a space within the wall segmentsin which a portion can move, such as the emitter 36 and detectors suchas the detectors 38 and 40. The cross-sectional area of the wallsegments 350, 352, 354, and 356 can also house movable portions thatallow the gantry 334 to change shape from the portion formed by theunchanging portion 334 a to other shapes, including those discussedfurther herein and illustrated in FIGS. 12B-12E. As discussed furtherherein, the segments included or positioned within the volume defined bythe wall segments 350, 352, 354, and 356 can be moved relative to thenon-changing portion 334 a of the gantry 334 to change a shape of thegantry 334 and/or an operation of the imaging system 316.

Further, positioned within the cross-sectional area defined by the wallsegments 350, 352, 354, and 356 can be a rotor 342. The rotor 342 can besimilar to the rotor 42, as discussed above. For example, the source 36and the detectors 38-40 may be mounted to the rotor 342. The rotor 342can move within the gantry 334 to allow for imaging of a subject, suchas the patient 14.

It is understood, in various embodiments, the rotor 342 may bepositioned or provided to be immobile for various operational reasons.For example, with reference to FIG. 12A, the imaging system 316 can beprovided in a stowed or transportation configuration. In atransportation configuration, the gantry 334 is formed or has terminalextents or perimeters defined only by the non-changing portion 334 a.The rotor 342 can be positioned within the non-changing gantry portion334 a. The rotor 342 may be formed of collapsible portions to allow therotor 342 to be collapsed to fit within the non-changing gantry portion334 a. The rotor 342, as discussed above, may also include the source 36and the detectors 38-40 associated therewith. Thus, the source 36 andthe detectors 38-40 may be retracted or positioned within thenon-changing gantry portion 334 a. In the collapsed or transportationconfiguration, as specifically illustrated in FIG. 12A, the imagingsystem 316 can be efficiently moved and stored in a facility, such as ahospital. The small configuration or collapsed configuration may alsoallow for greater access to the patient 14 by the user 12.

With reference to FIG. 12B, the gantry 334 may be operated to change itsconfiguration. The configuration of the imaging system 316, therefore,can be changed to allow operation of the imaging system 316 in variousoperational manners. In various embodiments, as discussed herein, one ormore pieces of the gantry may move, one of more pieces of the rotor 342may move, or combinations thereof to change the configuration of theimaging system 316. The configuration may be changed for differencepurposes, such as operation of the imaging system in different andselectable manners and/or movement and storage of the imaging system316.

Transformation or changing the configuration of the gantry isillustrated in FIGS. 12B-15. Discussion herein includes reference toFIGS. 12A-15 in addition to a specific segmental change as illustratedin FIGS. 12B-12E. As illustrated in FIG. 12B, a first movable portion370 and a second movable portion 372 can extend (e.g. telescope) fromthe non-changing portion 334 a of the gantry 334, is illustrated in FIG.12B. In particular, the first and second movable portions 370-372 canextend from within the volume formed by the exterior wall segments350-356. As discussed further herein, the first movable portions 370,372 can each include an external wall portion, such as a wall section380, 382, 384, and 386. Each of the wall segments 380, 382, 384, and 386can form an internal volume, as also discussed further herein. Further,the wall segments 380, 382, 384, and 386 can form an external taper orhave an angle relative to a longitudinal axis or a central axis formedthrough the internal volume of the movable portions 370-372.

The angle of the walls or surface of the wall segments 380, 382, 384,and 386 of the segments 370-372 can cause the segments to engage thenon-changing portion 334 a. The external walls 380, 382, 384, and 386engage internal surfaces of the wall segments 350-356 to assist inengaging or holding the first movable portions 370-372 relative to thenon-changing gantry portion 334 a. The engagement may occur as themovable portions 370 and 372 move out from the non-changing gantryportion 334 a. In moving out, the taper of the external walls 380, 382,384, and 386 move closer to and then engage the internal surfaces of thewalls of the non-changing gantry portion 334 a, as illustrated in FIGS.11B and 13. When engaged, the movable portions 370 and 372 may be atleast partially supported and fixed by the engagement. As discussedherein, further movable portions may be similarly held.

With continuing reference to FIG. 12B and additional reference to FIG.12C, a third movable portion 390 and a fourth movable portion 392 canmove relative to the first and second movable portions 370-372,respectively. Again, each of the third and fourth movable portions 390,392 include wall segments, such as wall segments 400, 402, 404, and 406.Again, the wall segments 400, 402, 404, and 406 can taper or form anangle relative to an internal surface of the respective wall segments380-386 of the first movable portions 370-372. The taper or angle canassist in engaging or holding respective third and fourth movableportions 390-392 relative to the first and second movable portions370-372.

Turning reference to FIG. 12D, a fifth movable portion 420 and a sixthmovable portion 422 can move relative to the third and fourth movableportions 390, 392, respectively. Again, each of the fifth and sixthmovable portions 420, 422 can include external wall segments, such asexternal wall segments 430, 432, 434, and 436. Each of the wall segments430, 432, 434, and 436 can engage or contact an internal surface of wallsegments 400, 402, 404, and 406 in the extended configuration, asdiscussed above. Each respective movable portion can move relative toand engage or assist in holding the next extending movable portions.

Finally, with reference to FIG. 12E, a seventh movable portion 450 andan eighth movable portion 452 can extend from the respective fifth andsixth movable portions 420, 422. Again, the seventh and eighth movableportions 450-452 can include external wall segments, such as four wallsegments 460, 462, 464, and 466. The wall segments 460, 462, 464, and466 can again include an external taper or angle relative to an internalsurface of the wall segments 430, 432, 434, and 436 to assist inengaging or holding the seventh and eighth movable portions 450, 452relative to the fifth and sixth movable portions 420, 422 in a mannersimilar to that discussed above.

Illustrated in FIGS. 12A-12E and discussed above is an example ofvarious embodiments wherein the moveable portions extend from both ends334 a′, 334 a″ of the non-changing gantry portion 334 a. It isunderstood, however, that in various embodiments that all of themoveable segments may extend from only one of the ends 334 a′ or 334 a″.In various further embodiments, an unequal number of the moveablesegments may move from either one of the ends 334 a′ or 334 a″ (forexample five segments extend from the end 334 a′ and three segmentsextend from the end 334 a″). Regardless, the gantry 334 may betransformed or reconfigured to various shapes including a “C” shape andan “O” shape for operation and/or transport of the imaging system 316.

It is further understood that the imaging system 316 by including theplurality of moveable segments may allow the imaging system 316 toachieve various shapes between a fully open “C” shape and the “O” shape.For example, the “C” shape may be provided to have an arc length onlyequal to the unchanging portion 334 a. The “C” shape may then be changedto have an arc length of less than one moveable segment in addition tothe unchanging portion 334 a. Additional length may be added in smallportions without completing the “O” shape and up to the “O” shape. Thus,the multiple moveable segments allow for a large range of userselectability of size for the gantry, including any arc length betweenthe fully open “C” shape (with the moveable segments retractedcompletely) to the “O” shape.

With reference to FIGS. 12 and 13, the non-changing gantry portion 334 aand the respective movable gantry portions 370, 390, 420, and 450 areillustrated. It is understood that the movable portions 372, 392, 422,and 452 may include a similar geometry and configuration and aretherefore not repeated, but are understood to include features asdiscussed further herein. As discussed above, the non-changing gantryportion 334 a includes the wall segments 350-356, and each wall segment350-356 can include internal surfaces thereof that engage externalsurfaces of the wall segments 380-382 of the first movable portion 370.Further, the third movable portion 390 includes the external wallsegments 400-406 that can include a geometry and configuration to engageinternal surfaces of the wall segments 380-386. The fifth movableportion 420 includes the wall segments 430-436 that may have externalsurfaces to engage internal surfaces of the wall segment 400-406 of thethird movable portion 390. Finally, the seventh movable portion 450includes the external wall segments 460-466 that may have surfaces toengage internal surfaces of the wall segments 430-436 of the fifthmovable portion 420.

The various wall segments and surfaces allow the movable portions 370,390, 420, 450 to move a selected amount relative to each other and thenon-changing gantry portion 334 a. Further, the various wall segmentsand surfaces may allow the movable portions 370, 390, 420, 450 to moveto selected positions and be held or fixed relative to each other andthe non-changing portion 334 a. For example, as each of the movableportions 370, 390, 420, 450 are moved relative to the non-moving portion334 a, the wall segments allow the respective movable portions 370, 390,420, 450 to move and engage in a fixed selected position relative to thenon-changing portion 334 a and/or the other movable portions. Thisallows the various configurations of the imaging system 316 to beachieved. Specific configurations of the internal wall surfaces andexternal wall surfaces can be selected to achieve various rigidities andmay be based on material selection of the gantry 334, therefore,exemplary embodiments are discussed herein for illustration purposesonly.

With continuing reference to FIG. 13, the gantry 334 including thenon-changing portion 334 a and the various movable portions 370, 390,420, 450, are illustrated in extended and semi-extended configurations.The movable portions move relative to the non-changing portion 334 a toallow the gantry 334 to change shape from the shape illustrated in FIG.12A to a substantially “O”-shape or annular shape as illustrated in FIG.12E. The various movable portions 370, 390, 420, 450 can be movedrelative to the non-changing portion 334 a according to variousmechanisms, including linkages, individually mounted servo motors, andthe like.

For instance, a linkage system can be interconnected with a singlemotor, such as the motor 100, to sequentially move and selectively moveeach of the movable portions 370, 390, 420, 450 relative to thenon-changing portion 334 a. Alternatively, or in addition to thelinkage, a servo motor or selected motor can be interconnected with eachof the movable portions 370, 390, 420, 450 that can be individuallyoperated to move the selected movable portion relative to another of themovable portions 370, 390, 420, 450 and/or the non-changing portion 334a. Either or both of these systems may drive wheels 481. The wheels 481may also only provide a guide or bearing for the movement of the movableportions 370, 390, 420, 450. In this manner, the gantry 334 can bechanged between selected configurations from the fully opened orcollapsed configuration illustrated in FIG. 12A to a closed or annularconfiguration as illustrated in FIG. 12E.

With additional reference to FIG. 14, an end of the non-changing portion334 a and two movable portions 370 and 390 are illustrated. The movableportions can include a shape or geometry mentioned above and illustratedin greater detail here. A first terminal end of the first movableportion 370 includes a first terminal end 500 that includes at least onedimension, such as an external width dimension 502. The externaldimension 502 may be greater than an internal terminal end dimension 504at a second terminal end 506 of the non-changing portion 334 a. In thisway, as the movable portion 370 moves out of the non-changing gantryportion 334 a, the wall segments 380-386 can engage, such asinterferingly engage the internal surface of the non-changing gantryportion 334 a. A third terminal end 510 of the first movable portion 370may include an external dimension 514 that is less than the externaldimension 502 of the non-changing portion. In this way, the firstmovable portion 370 tapers from the first terminal end 500 to the thirdterminal end 510.

An opening, such as a cross-sectional opening defined by the wallsegments 350-356 of the non-changing gantry portion 334 a include theinternal dimension 504 that is greater than the dimension 514 of thethird terminal end 510, but it less than the external dimension 502 ofthe first terminal end 500. Accordingly, as the second movable portion370 moves out of the non-changing gantry portion 334 a, a physicalinterference occurs between the movable portion 370 and the non-changinggantry portion 334 a. This physical interference, along with any otherselected locking mechanisms, such as a pin and wedge and the like, holdthe movable portion 370 relative to the non-changing gantry portion 334a in a selected shape or configuration.

It is understood that the other movable portions can also include asimilar configuration relative to the portions to which they move. Forexample, the third movable portions may include a fourth terminal end520 that has an external dimension 522 that is greater than an internaldimension 528 of the third terminal end 510. Thus, the third movableportion 390 may move and physically engage the second movable portion370.

Thus, a terminal end may include an external cross-sectional area, suchas defined at least in part by the dimensions noted above, that isgreater than an internal cross-sectional area at a second terminal end.The greater cross-sectional area being smaller than an opening throughwhich the movable portion moves. Thus, a physical interference andconnection can be formed between the various moving portions to form thegantry 334 in a selected shape that may be changed between thesubstantially open shape illustrated in FIG. 12A and the O shapeillustrated in FIG. 12E.

Returning reference specifically to FIGS. 13 and 14, as discussed above,the emitter 36 and selected detectors 38, 40 can be positioned on therotor 342 to rotate within the gantry 334. The rotor 342 may move on atrack, such as a track formed by one or more track members. The trackmembers can include a first or first pair of track members 550 movablyconnected by a linkage or pair of linkages 552 to the fourth wallportion 356 of the non-changing gantry portion 334 a. The first rail ortrack member 550 can extend the entire arcuate dimension of thenon-changing portion 334 a of the gantry 334. The track members 550allow for the rotor 342 to engage relative to the gantry 334 and allowmovement of the rotor 342 relative to the gantry 334.

The track can also include rail members, as discussed further herein,that are interconnected with the various movable portions 370-452. Forexample, one or a pair or second number of track members 560 can bemovably connected with the first movable portion 370 by one or morelinkages 562. A third track member or members 570 can be movablyinterconnected with the third movable portion 390 by one or morelinkages 572. Fourth track member or members 580 may be movablyinterconnected with the fifth movable portion 420 with movable linkagesof 582. Also, fifth track member or members 590 can be interconnectedwith the seventh movable portion 450 with linkages 592. The linkages 592may not need to be movable relative to the movable portion 450. Thetrack members 590 may be fixably connected to the seventh movableportion 450 as the diameter formed by the fifth track members 590relative to the seventh movable portion 450 may define the circumferenceof the completed track for movement of the rotor 342. It is understood,however, that the fifth track members 590 may be also movably mountedrelative to the seventh movable portion 450. Moreover, it is understoodthat the opposing movable portions 372-452 may also include trackmembers similar to the counterpart track members 550-590, discussedabove, but are not repeated here for clarity of the current discussion.

According to various embodiments, as the movable portions, for example,the first movable portion 370, moves from the non-changing gantryportion 334 a, the first track member 550 can be moved either alone orin combination with the second track portion 560 to form a completetrack extending from the non-changing gantry portion 334 a. Similarly,as each of the other movable portions 390, 420, 450 move, the varioustrack portions can move to align the track members to form a track forthe rotor 342 to ride along.

To assist in providing clearance for the track members to move relativeto each other and the various movable portions 370-450, the top walls ora portion of the top wall may include one or more grooves 596 to allowat least an end portion of the respective track members to move throughthe respective top walls of the movable portions 370-450. Thus, thetrack members may move from a collapsed or retracted position, asillustrated in FIG. 13, into aligned positions with the respective trackmembers. It is further understood that the track members can move anyappropriate amount and the amount illustrated in the drawings is simplyfor the current discussion and illustration.

Further, when the movable portions are held within the other respectivemovable portions and/or the non-changing gantry portion 334 a, the trackmembers 520-560 can be retracted or withdrawn into space betweenrespective wall segments of the gantry portions. As illustrated in FIG.13, the track member 550 is between the wall segment 356 of thenon-changing gantry portion 334 a and the top wall segment 386 of thesecond movable portion 370. Similarly, the other track members can beretracted into a space provided between each of the respective gantryportions, as exemplarily illustrated in FIG. 13. The track members maybe moved into the track forming position as illustrated in FIG. 14.

The track portions, including the tracked portions 550, 560, 570, 580,590, can be moved from the retracted position to the extended positionto form the track for movement of the rotor 342 using various mechanismssuch as individual servo motors for each of the tracked portions,connected linkages to a drive (e.g. the drive 100), or other appropriatemovement mechanisms. For example, individual servo motors or linkagescan be included in each of the movable portions 370-452 to move thetrack members to be deployed position once the movable portion is in aselected position, such as deployed to an operating position. Further,the movement of the track members can be provided to move gradually suchthat as the movable portion is moving to the deployed or operatingposition, the track member can also be moving simultaneously. In thisway, the track member can reach the deployed position and the movableportion can reach the deployed position substantially simultaneously.

Moveable Source and Detector

An imaging system for acquiring images of a patient, including thosediscussed above is disclosed according to various embodiments.Alternatively, or in addition to the specific examples illustrated anddiscussed above, an imaging system 700, according to variousembodiments, is illustrated with initial reference to FIGS. 16A-16E. Theimaging system 700 can include portions that are similar to the portionsdiscussed above and will not be described in detail here. For example,the imaging system 700 may include the cart 30 which may be movable,such as being pushed by an operator manually or powered with a motor,via wheels 31 or other appropriate mobility devices. The imaging system700 may further include a display device (e.g. a monitor) 32 a which maybe used to monitor operation of the imaging system 700 and/or viewimages acquired with the imaging system 700. The imaging system 700 mayfurther include the imaging computer 32 which may process images on theimaging system 700 and/or transmit image data to other processingsystems. Further, the motor 100 can be used to move various portions ofthe imaging system 700, such as with a control input (e.g. a stick) 702.Portions of the imaging system 700 that may be moved include a rotor710.

In various embodiments, the imaging system 700 may be an x-ray orfluoroscopy imaging system. In these embodiments, the imaging system 700will include a source, which is operable to emit x-rays, and one or moredetectors such as the first detector 38 and the second detector 40. Asinitially illustrated in FIG. 16A, the source 36 and the detectors 38,40 can be positioned at a selected location relative to the rotor 710.The source 36 may move with and/or independently of the detectors 38,40. Further, each of the detectors may move independently of each otherand/or the source 36.

The rotor 710 can be moved relative to the cart 30, such as with aconnection or arm 147 to a base portion of the cart 30, as discussedabove. The motor 100 may be incorporated into the connection 147 and mayconnect or engage the rotor 710, with one or more teeth 712 formed orprovided on an exterior surface of the rotor 710. The rotor 710 caninclude a fixed or unchanging segment 716 on which the teeth 712 areformed. The unchanging fixed rotor portion 716 can extend along an arcfrom a first end 718 to a second end 720. For the unchanging portion716, the length of the arc is not changeable by a user, as discussedabove. Although the entire rotor 710 may be reshaped, according tovarious embodiments (e.g. telescoping segments), the unchanging portionor segment 716 does not have a length, i.e. arc length, which ischangeable.

It is understood, however, that the rotor 710 need not move relative tothe cart 30. As discussed herein, the source 36 and the detectors 38, 40may move relative the cart 30 and to each other. Thus, the rotor 710need not move relative to the cart to alter a position of the source 36relative to one or more of the detectors 38, 40. As discussed herein,the rotor 710 may include a moveable portion that may allow the imagingsystem to form a fully annular track system. Thus, the imaging system700 need not have a moveable rotor and only the source 36 and thedetectors 38, 40 may move. It is understood, however, that both therotor 710 and the source 36 and detectors 38, 40 may move and all maymove independent of the others.

The patient 14 may be positioned near the isocenter 110 of the rotor710, in a manner similar to that discussed above to the other imagingexemplary embodiments. The patient 14 can then be imaged with theimaging system 700, in a manner as generally understood by one skilledin the art, by emitting x-rays from the source 36 to be detected byselected one or more of the detectors 38, 40. The imaging system 700 mayhold the source 36 and the detectors 38, 40 relative to one anotherduring the imaging.

The rotor 710 may be interconnected with the connection 147 directlyand/or through linkages. The rotor 710 also may engage the motor 100.For example, a track or engaging portion can movably couple the rotor710, such as the unchanging rotor portion 716 directly to the connection147. It is understood, however, a gantry 726 (illustrated in phantom),may also be provided to extend from the connection 147. The gantry 726may be similar to the gantry 34, discussed above, and may support therotor 710 during movement. It is understood, however, that the gantry726 is not required for operation of the imaging system 700.

The imaging system 700 can be operated in a manner to collect image dataof the patient 14 in a manner similar to that discussed above. The rotor710, however, can be manipulated to be configured between a generally“C”-shaped configuration, as illustrated in FIG. 16B, and an “O”-shapedconfiguration as illustrated in FIG. 16E. A moveable segment 750 of therotor 710 may move relative to the unchanging segment 716, as discussedherein, to change the shape of the rotor 710

The rotor 710 can house or contain the source 36 and the detectors 38,40. Again, it is understood, that only a single detector may be providedor more than two detectors may be provided. Nevertheless, both thesource 36 and the detectors 38, 40 can move within and relative to therotor 710, including the non-changing portion or fixed segment 716.Further, as discussed above, the rotor 710 may also move relative withthe cart 30 independently of the movement of the source 36 and thedetectors 38, 40.

According to various embodiments, a track including a rail member 730may be positioned within the non-changing segment 716. Each of thesource 36 and the detectors 38, 40 can then be moved along the rail 730to selected positions to acquire image data of the patient 14. Asillustrated in FIG. 16A, the source 36 may be positioned near thedetectors 38, 40, such as near the arm 147. As illustrated in FIG. 16B,the source 36 can also be positioned substantially opposite thedetectors 38, 40 to acquire an image of the patient 14. The source 36can move from the position as illustrated in FIG. 16A to the position asillustrated in FIG. 16B and the detectors 38, 40 can also move from theposition as illustrated in FIG. 16A to the position as illustrated inFIG. 16B. When positions are substantially opposite one another, theimaging system 700 can acquire image data of the patient 14 in aselected manner, such as collecting x-ray projections through thepatient 14.

It is understood that the non-changing segment 716 can be moved relativeto the connection 147 to acquire image data at difference projections(i.e. angles of the detectors 38, 40) relative to the patient 14. Forexample, the non-changing portion of the rotor 716 can generally move inthe direction of arrow 734, as illustrated in FIG. 16C, to a positionabout 90° from the position as illustrated in FIG. 16B. It is furtherunderstood that the non-changing portion 716 can generally move in thedirection of arrow 736 to a position that is substantially 180° fromthat illustrated in FIG. 16C or 90° in an opposite direction relative tothat illustrated in FIG. 16B. Nevertheless, image data can be acquiredof the patient 14 during movement of the non-changing rotor portion 716or at selected discrete positions as the rotor moves in the direction ofarrows 734, 736. For example, an anterior-to-posterior andmedial-to-lateral image can be acquired of the patient 14 to acquire twoprojections to the patient 14. Alternatively, or in addition thereto, aplurality of projections can be acquired through the patient 14 as thenon-changing portion 716 moves relative to the patient 14.

In the “C”-shaped configuration, the imaging system 700 may acquire oneor more two-dimensional (2D) images. The 2D images are acquired as imagedata that may be then transformed to three-dimensional (3D) images. The2D or 3D images may be viewed by the user, such as a surgeon, forassisting in selected procedures. The images may be registered to apatient space, as is understood in the art, for performing a navigatedsurgical or other selected procedure. Further, the images may be usedfor determining or viewing selected portions of the patient anatomy.

In various embodiments, the imaging system, as discussed herein, mayalso be changed to an “O: shaped configuration. In the “O”-shapedconfiguration the imaging system 700 may acquire images similar to thosein other generally known CT-imaging systems. The images may be used togenerated 3D images of the patient 14. Further, the “O”-shapedconfiguration may be used to acquired images at any selected perspectiverelative to the patient 14. Thus, the imaging system 700 may be providedto provide a changeable or alterable imaging system between a “C”-shapedimagine configuration to an “O”-shaped configuration.

Further, the imaging system 700, according to various embodimentsincluding various embodiments as discussed above, may be provided as acompact imaging system. In particular, the imaging system 700 may beconfigured to the “C”-shaped configuration for mobility and storagepurposes. In various embodiments, the rotor 710 may have a height 710 xat a selected highest or upper most point 710 y′ of the rotors 710 abovea floor or surface 710 y that supports the imaging system 700, similarin dimensions as discussed above. For example, the height may be aboutfive feet. Thus, the imaging system need not be maintained in the“O”-shaped configuration at all times. This allows the imaging system700 to acquire images in a CT-imaging system manner (e.g. with a full360 degree spin around the patient 14) or in a C-arm configuration withthe single imaging system 700.

While the rotor 710 may move, as discussed above, the source anddetectors 36, 38, 40 can also be moved with appropriate movementmechanisms. For example, individual motors (36 a, 38 a, and 40 a), suchas servomotors, can be connected to the source 36 and the detectors 38,40, respectively. Instructions may be sent to the servomotors 36 a, 38a, and 40 a and to cause them to activate and move by instructions fromthe imaging computer 32 and/or based on input from a user. Also, thesource 36 and the detectors 38, 40 can be moved by connections, such asbelt connections with the motor 100. The movement of the source 36 andthe detectors 38, 40 can be powered according to various systems,including those generally known in the art. The operation protocol formoving the source 36 and the detectors 38, 40 will be discussed infurther detail herein.

In addition to and alternatively to moving the non-changing segment 716as illustrated from FIGS. 16B to 16C or vice versa, as discussed above,the movable segment 750, as illustrated in FIG. 16D, can be moved fromeither end 718, 720 of the non-changing segment 716. As illustrated inFIG. 16D, the movable segment 750 can move to exit from the end 718generally in the direction of arrow 752. The movable segment 750 candefine an internal volume similar to an internal volume defined by thenon-changing segment 716 to allow movement of the source 716 and thedetectors 38, 40 therein.

The movable segment 750 extends from a first end 756 to a second end 758generally along an arc length. The movable segment 750 can furtherinclude an exterior tooth portion 760 similar to the tooth portion 712of the non-changing segment 716. The movable segment 750 can continuemoving to any appropriate configuration relative to the non-changingsegment 716 such as until a complete circle or total “O” configurationis achieved, such as an “O”-shape, as illustrated in FIG. 16E.

The movable portion 750 can be used to form the “O”-shaped configurationof the imaging system 700, including the rotor 710, as illustrated inFIG. 16E. As discussed above, the “O”-shaped configuration may allow thesource 36 and the detectors 38, 40 to move generally in a 360° motionaround the patient 14. When the rotor 710 is in the “O”-shape, theisocenter 110 may not change from when the rotor is in the “C”-shapedconfiguration. Thus, the isocenter 110 may be constant for the imagingsystem 700. The patient 14 may be positioned at or near the isocenter110, including a selected portion of the patient of which image data isselected to be acquired.

The movable portion 750 can have a portion of the rail 730 formedtherein such that when the movable segment 750 completes the “O”-shapedconfiguration, the source 36 and the detectors 38, 40 can traverse 360°around the isocenter 110 on the rail 730. Further, the tooth surface 760can be moved into alignment with the tooth surface 712 so that the rotor710 may also move relative to the patient 14. It is understood, however,that the rotor 710 need not move in a 360° movement as the source 36 anddetectors 38, 40 can move 360° within the rotor 710 once the movablesegment 750 is moved to connect the first end 718 and the second end 720to allow movement of the source 36 and the detectors 38, 40 within the“O”-shape of the rotor 710, as illustrated in FIG. 16E.

Further, as discussed above, the rotor 710 can be moved relative to thecart 30 via the connection 147. For example, the connection 147 can bemoved up and down generally in the direction of double-headed arrow 770and back and forth as illustrated by a double-headed arrow 772. Further,the connection 147 can move the rotor 710 in a sway movement such asillustrated by the double-headed arrow 774 around an axis, such as anaxis 776.

Therefore, the imaging system 700 can include the rotor 710 that can bechange from a “C”-shape, as illustrated in FIGS. 16A-16C to an“O”-shaped configuration as illustrated in FIG. 16E. Further, theimaging system 700 can include the rotor 710 that achieves theconfiguration between the “C”-shape and the “O”-shape, as illustrated inFIG. 16D. It is further understood that the movable segments 750 canextend from either of the ends 718 or 720. Therefore, the movablesegment 750 may extend from the end 720 and move towards the end 718generally in the direction opposite of the arrow 752.

The changeability of the imaging system 700 from the “C”-shapedconfiguration to the “O”-shaped configuration also allows the singleimaging system 700 (and according to various embodiments as discussedabove) to operate in various manners without moving the patient 14. Forexample, the imaging system 700 may be operated as a “C”-arm to acquireselected 2D images while allowing great access to the patient 14. Theimaging system 700 may also acquire CT type images using data acquiredduring a 360 spin around the patient. The different images may beacquired of the patient without moving the patient 14. This may allowthe single imaging system 700 to operate in various manners during asingle procedure, such as an operative procedure, without requiringmovement of the patient 14 or altering a position of the patient 14during the procedure.

The imaging system 700 including the source 36 and detectors 38, 40 canbe operated according to various schemes to ensure or assist in ensuringthat the source 36 is positioned opposite a selected one of thedetectors 38, 40. As discussed above, the source 36 may moveindependently of the detectors 38, 40 relative to the rotor 710.Therefore, operation of the source 36 relative to the detectors 38, 40may be necessary to ensure that the source 36 is opposite the detectors38, 40 for imaging. Further, it is understood, that the imaging system700 may include only a single one of the detectors 38, 40. For thefollowing discussion the detector 38 would be specifically included forclarity. It is understood, however, that the control schemes discussedherein can be used to operate the imaging system 700 including aplurality of the detectors 38, 40.

With initial reference of FIG. 17 a command (referred to as aco-command) scheme is illustrated in a flowchart 800 where variousportions referred to therein may include either or both hardwarecomponents specifically designed for the disclosed purpose, includefirmware software for performing a disclosed purpose, or a generalpurpose processor that is executing software for a disclosed purpose. Asdiscussed above, a user may operate the imaging system 700 from the cart30 or other appropriate processor communicating and/or connected withthe imaging system 700. For example, the user may operate the imagingsystem processor 32 via input, such as the pointer 702 (as illustratedin FIG. 16A) or a keyboard that is interconnected with the cart 30. Theuser can input a command that directs the imaging system processor 32 tooperate and/or move various portions of the imaging system 700,including the source 36 and the detector 38. As illustrated in theflowchart 800, a command may be provided in a command block 802 a and acommand block 802 b. The two command blocks 802 a, 802 b operate thecontrol scheme in the flowchart 800 as a co-command control scheme. Thecommand blocks 802 a and 802 b may include instructions based on theinput by the user from the controller 32 and produce signals basedthereon.

The command from the command block 802 a may be sent as a signal 804 ato a source axis 810. The command from the command block 802 b may bethe an offset signal from the signal 804 a and can be sent as signal 804b. The offset signal 804 b may be offset, as discussed further herein,from the signal 804 a. The signal 804 a may also be sent or divertedfrom the signal line 804 a to a summing junction 812. The summingjunction may both sum and subtract signals, as is generally known by oneskilled in the arts. The offset signal 804 b can be transmitted by thecombiner block 812.

The offset can be any appropriate offset, such as about 150° to about230°, including exactly 180°. As discussed above, the source 36 maygenerally be positioned substantially opposite or 180° from the detector38 to acquire images of the patient 14. When the source 36 issubstantially 180° from the detector 38, image data (and images basedthereon) may be acquired as x-rays pass through the patient 14 on asubstantially straight line from the source 36 to the detector 38. Thesignal from the command block 802 b, therefore, can be provided 180°offset or separate from command block 802 a and the signal 804 a sent tothe source axis 810 as the offset transmitted signal 814.

The offset signal 814 can then be sent to the detector axis 820. Thesource axis 810, as illustrated in the flowchart 800, can include bothcontrol mechanisms (e.g. PID controllers) and plant mechanisms (e.g.servomotor 36 a) that are included with or within the source 36 to movethe source 36. Further, the detector axis 820 can also refer to controlmechanisms (e.g. PID controllers) and plant mechanisms (e.g. servomotor36 a) with or within the detector 38.

The signal 804 a may reach the source axis 810 and be received by asource controller 822. The source controller 822 may include acontroller summing junction 830 that initially receives the signal 804 aand a controller 832. The summing junction may both sum and subtractsignals, as is generally known in the controller arts. The controller832 may be any appropriate controller (such as a proportional integralderivative controller (PID)). The controller 832 may transmit the signal804 a from the command input 802 a and to a plant mechanism 836 through,optionally, an amplifier 840. The plant mechanism 836 may include theservomotor 36 a that is used to move or drive the source 36 to aselected position. The signal 804 a from the command module 802 a can beprovided to the plant mechanism 836 to move or power the servomotor 36a, acting as the plant mechanism 836, to position the source 36 at aselected location.

A signal from the plant mechanism 836 can then be transmitted to anencoder 844 to sense a position of the source 36. A signal of the sensedposition from the encoder 844 can be provided back to the summingjunction 830 to assist in controlling the position of the source 36and/or a speed of travel of the source 36. The encoder 844 may, however,generate a signal separate from the plant mechanism 836 to determine anabsolute position, relative position, or amount of movement of thesource 36 over a period (e.g. since last movement or since start ofmovement). Therefore, the source 36 can be moved in a first directionbased upon the signal 804 a from the command module 802 a.

The detector axis 820 can include components similar to the source axis810, including a detector controller 848. The detector controller 848may include a detector summing junction 850 that receives the offsetsignal 814 from the combiner 812. The offset signal, being offset by180°, can operate to move the detector to a position or in a directionopposite the movement of the source 36. Further, as the offset signal is180° of that of the source 36, the detector 38 may generally be movedsubstantially opposite the source on the rotor 710.

Accordingly, the signal can pass from the summing junction 850 to adetector controller 852 (which may be any appropriate controller, suchas a PID controller) and then be provided, optionally, through anamplifier 854 to a plant mechanism 856. As discussed above, the plantmechanism 856 may be the servomotor 38 a, as discussed above, providedwith the detector 38. Therefore, the offset signal 814 can be used tooperate the plant mechanism 854 to move the detector 38 substantiallyopposite the source 36.

The detector axis 820 may further include a detector encoder 860,similar to the source encoder 844. A signal from the plant mechanism 856can then be transmitted to the detector encoder 860 to sense a positionof the detector 38. A signal of the sensed position from the detectorencoder 860 can be provided back to the summing junction 850 to assistin controlling the position of the detector 38 and/or a speed of travelof the detector 38. The detector encoder 860 may, however, generate asignal separate from the plant mechanism 856 to determine an absoluteposition, relative position, or amount of movement of the source 36 overa period (e.g. since last movement or since start of movement).

Further, output signals from the source axis 810 can include an outputsignal 870 to the command module 802 a. In a similar manner, an outputsignal 872 from the detector axis 820 can be provided to the commandmodule 802 b. The signals provided to the command modules 802 a, 802 bcan be used to confirm positioning of the source 36 and the detector 38at the selected positions in the rotor 710.

Accordingly, the control mechanism or scheme 800, illustrates how thesource axis 810 (which includes the source 36) and the detector axis 820(which includes the detector 38) receive selected signals and use thesignals to control movement of the respective source 36 and detector 38.The control scheme 800, therefore, illustrates how the source 36 can bemoved substantially to a position opposite of the detector 38. In thismanner, the source 36 can be moved to any selected relative to thepatient on the rotor 710, but also be substantially opposite thedetector 38 based upon an input from the user.

The flowchart 800 illustrates at least one control or co-command schemefor controlling the movements of the source 36 relative to and withmovement of the detector 38. According to various embodiments, FIG. 18illustrates an alternative or second control scheme as a master-slavescheme illustrated in the flowchart 900. In the master/slave controlscheme, various components and controllers may be substantially similaras in the co-command scheme according to the flowchart 800, but may beoperated in a different manner, as discussed herein. As discussed abovein relation to the co-command scheme 800, the command modules 802 a, 802b may provide signals, as discussed herein, to the source axis 810 andthe detector axis 820. As discussed above, the respective axes 810, 820may include controllers and plant mechanisms to control and move therespective source 36 and detector 38.

A signal 902 is sent from the command block 802 to the source axis 810.The source axis 810 can include the same components as illustrated inthe command scheme 800 and will not be described in detail, butmentioned briefly. Initially, the signal can be received within thesource controller 822 including the summing junction 830 and thentransmitted to the controller 832 (which may be a PID controller asdiscussed above). The signal may then be, optionally, amplified in theamplifier 840 and used to drive the plant or power mechanism 836. Anencoder may receive a signal form the plant 836 and/or sense a positionof the source 36 and return a signal to the summing junction 830 in thesource controller 822.

The master/slave control scheme 900 may differ from the co-commandcontrol scheme 800 in that the detector axis 820 may receive a signalfrom the source axis 810, including a signal 911 from the encoder 844,rather than responding directly to a signal 913 from the command module802 b. The signal 913 from the command module 802 b may include anoffset, such as the offset discussed above. As discussed above, theoffset may be about 150° to about 230°, including exactly 180°, toproduce the offset signal 814.

The signal 911 from the source axis 810 may go to the summing junction812 that also receives the signal 913 from the command module 802 b.From the summing junction 812 the offset signal 814 may then betransmitted to the detector axis 820. Thus, the detector axis 820receives the signal 911 from the source axis 820 prior to any action,therefore the detector axis is a slave to the source axis 810. It isunderstood, however, that the source axis 810 o may be a slave to thedetector axis 820.

The offset signal 814 is initially received within the detectorcontroller 848 including the summing junction 850 and transmitted to thecontroller 852 (which may be a PID controller, as discussed above). Thesignal may then be, optionally, amplified in the amplifier 854 andtransmitted to the plant/motor 856. An encoder 860 may also be used todetermine a position signal of the detector 38, as discussed above. Anoutput signal 920, optionally, can then be provided to the commandmodule 802 b to determine whether the final position based upon input ofthe use of the source 36 and the detector 38 has been reached.

In the master/slave command scheme 900, the signal to the detector axis820 is based, at least in part, upon the output signal 911 from thesource axis 810. Therefore, the detector 38 only moves based uponmovement, as encoded in the signal 911, output from the source axis 810.This can allow the slower component, for example the source 36, todictate movement of the faster moving component, for example thedetector 38. This may ensure that the two components can reach aselected position at a selected time in synchronization. It isunderstood, however, that the source may not be the faster movingcomponent; this is simply provided for the current discussion.

Further, it is understood that the offset signal 814 may not be a 180°offset. For example, the signal 902 may be a −90° signal and the offsetsignal and the offset signal 814 may be a +90° signal. As the detector38 moves based upon an output signal from the source axis 810, thedetector 38 would still be 180° separated from the source 36.

An average and difference command scheme 1000 is illustrated in FIG. 19.The command scheme 1000 is a further alternative to controlling movementof the source 36 and the detector 38 relative to one another within theimaging system 700. The control scheme 1000 may include variouscomponents similar to that discussed above, that are not discussed infurther detail here, but only briefly listed here. The control scheme1000, nevertheless, may include a first control module 1010 that may beincludes or provided in the imaging processor 32 or other appropriateprocessor. The first control module 1010 can include various componentsas discussed herein, which may be embodied in the processor 32 or otherappropriate processor. The first control module 1010 may includefirmware included with a processor or include programmable software thatis executed by a general processor. Further, the first control module1010 may be a separate component that is interconnected with the imager700 that may receive an input from the user for positioning the source36 and the detector 38. The input from the user may be provided with orfrom the command modules 802 a, 802 b, as discussed above.

The first control module 1010 in controlling the position of the source36 and the detector 38 can receive an input from the user regarding aselected position from the command modules 802 a, 802 b. The firstcontrol module 1010 can receive an input regarding an average speed ofthe system as input 1012 which goes to an initial summing junction 1014then to a first controller 1016 (such as a PID controller). An outputsignal from the controller 1016 may be an output signal 1018 that istransmitted to a second summing junction 1020 and to the source axis810. The source axis 810 may include various components, including thosecomponents discussed above in the source axis 810. The variouscomponents will not be further discussed here, however, the source axis810 may include the controller and the plant mechanism for moving thesource 36 and the encoder or a sensor for sensing movement of the source36.

The signal 1018 may further be transmitted to a third summing junction1040 and transmitted to the detector axis 820. Again, the detector axis820 can include components as discussed above in the detector axis 820,and are not reiterated here. For example, the detector axis 820 mayinclude the controller, to the plant mechanism to move the detector 38,and the encoder to determine or sense a position of the detector 38.

The first control module 1010 can further receive a difference signal1060 from the command module 802 b that may include the offset of thedetector 38 relative to the source 36. The difference signal 1060 may betransmitted to a fourth summing junction 1062 and to a second controller1064 (which may be a PID controller). An output signal 1068 from thecontroller 1064 may be transmitted to the third summing junction 1040and to the second summing junction 1020. The signal from the two summingjunctions 1040, 1020 can then be provided, respectively, to the detectoraxis 820 and the source axis 810. Therefore, each of the detector axis820 and the source axis 810 may receive signals regarding both theaverage speed and difference in speed of the two axes 810, 820.

The source axis 810 can then output a source axis signal 1070 and thedetector axis 820 can output a detector axis signal 1072 to a signalconditioning module 1080. The signal conditioning module 1080 may alsoinclude firmware executed by a selected processor or programmablesoftware executed by a selected processor. In the signal conditioningmodule 1080, a summation of the source axis output signal 1070 and thedetector axis output signal 1072 may be made in a fifth summing junction1082 and a summation signal 1084 is then divided in half in acomputation or average module 1086 and an average signal 1088 may beoutput from the computation module 1086. The signal conditioning module1080 further includes a summing junction 1090 which may output adifference signal 1092 as a difference between the source axis outputsignal 1070 and the detector axis output signal 1072. Both the averagingsignal 1088 and the difference signal 1092 can be input to the firstcontrol module 1010 to control the position of the detector 38 and thesource 36 to provide feedback regarding an instant position and/or speedof the source 36 and detector 38.

As discussed above, the imaging system 700 includes the source 36 andthe detector 38 (and/or the detector 40) that may move relative to oneanother within the rotor 710. As the source 36 and the detector 38 maymove relative to one another, various control schemes, including thosediscussed above and illustrated in the control schemes 800, 900, and1000, may be used to control position of the source 36 and the detector38 relative to one another. The control scheme allows the source 36 andthe detector 38 to be selectively movable relative to one anotherwithout being positioned on a rigid connection system. As the source 36and the detector 38 are able to move relative to one another, selectedperspectives of the patient 14 may be acquired which may vary beyondthose allowed if the source 36 and the detector 38 are rigidlypositioned relative to one another on a fixed mechanism, such as anarcuate structure. Therefore, the control schemes allow the control ofthe position of the source 36 relative to the detector 38 for imaging ofthe patient 14. Further, the control schemes can ensure that at selectedtimes the source 36 is substantially opposed to the detector 38 foracquiring images of the subject 14. It is further understood, however,that a non-human patient may be imaged with the imaging system 700.

The foregoing description of the embodiments has been provided forpurposes of illustration and description. It is not intended to beexhaustive or to limit the disclosure. Individual elements or featuresof a particular embodiment are generally not limited to that particularembodiment, but, where applicable, are interchangeable and can be usedin a selected embodiment, even if not specifically shown or described.The same may also be varied in many ways. Such variations are not to beregarded as a departure from the disclosure, and all such modificationsare intended to be included within the scope of the disclosure.

Example embodiments are provided so that this disclosure will bethorough, and will fully convey the scope to those who are skilled inthe art. Numerous specific details are set forth such as examples ofspecific components, devices, and methods, to provide a thoroughunderstanding of embodiments of the present disclosure. It will beapparent to those skilled in the art that specific details need not beemployed, that example embodiments may be embodied in many differentforms and that neither should be construed to limit the scope of thedisclosure. In some example embodiments, well-known processes,well-known device structures, and well-known technologies are notdescribed in detail.

What is claimed is:
 1. A system transformable to image a subject in atleast two configurations, comprising: a gantry member extending from afirst gantry terminal end to a second gantry terminal end; atransformable rotor having, a fixed length segment with a first terminalend and a second terminal end; a source; a detector substantiallyopposed to the source; a first moveable segment extending from a firstsegment end to a second segment end, and a segment drive operablyconnected to the fixed length segment and the first moveable segment,wherein the drive is configured to move in both a curved path and aradial path the first moveable segment relative to the fixed lengthsegment; a rotor drive operably connected to the gantry member and therotor to move the rotor relative to the gantry member; wherein thesource and the detector move relative to the gantry member when therotor drive drives the rotor relative to the gantry member.
 2. Thesystem of claim 1, further comprising: a second moveable segmentextending from a third segment end to a fourth segment end.
 3. Thesystem of claim 2, wherein the segment drive is further operablyconnected to all of the fixed length segment, the first moveablesegment, and the second moveable segment; wherein the segment drive isconfigured to move the first moveable segment and the second moveablesegment relative to the fixed length segment between an openconfiguration and a closed configuration.
 4. The system of claim 2,wherein the first movable segment extends from the first terminal end ofthe fixed length segment and the second movable segment extends from thesecond terminal end of the fixed length segment.
 5. The system of claim1, further comprising: a base having a wheel to support the gantry on asurface; wherein the gantry has a maximum height of less than about fivefeet above the surface.
 6. The system of claim 1, wherein the fixedlength segment defines a volume and the source and the detector arepositioned within the volume.
 7. The system of claim 1, wherein thefixed length segment has an external surface and the first movablesegment has an external surface, wherein when the segment drive movesthe first movable segment relative to the fixed length segment, theexternal surface of the fixed length segment is aligned with theexternal surface of the first movable segment to form a track.
 8. Asystem transformable to image a subject in at least two configurations,comprising: a gantry member extending from a first gantry terminal endto a second gantry terminal end; a rotor having, a fixed length segmentwith a first terminal end and a second terminal end and a first externalsurface; a source; a detector substantially opposed to the source; afirst moveable segment extending from a first segment end to a secondsegment end and having a second external surface, and a segment driveoperably connected to the fixed length segment and the first moveablesegment, wherein the drive is configured to move the first moveablesegment relative to the fixed length segment between a firstconfiguration and a second configuration to form an aligned track, arotor drive operably connected to the gantry member and the rotor tomove the rotor relative to the gantry member with the aligned track;wherein the source and the detector move with the rotor relative to thegantry member when the rotor drive drives the rotor relative to thegantry member.
 9. The system of claim 8, wherein the segment drive isconfigured to move the first moveable segment from between a firstsidewall and a second sidewall of the rotor to align a first segmentsidewall of the first moveable segment with the first sidewall to form asubstantially continuous track along the segment sidewall and the firstsidewall.
 10. The system of claim 9, wherein the first moveable segmentis between the first sidewall and the second sidewall in the firstconfiguration.
 11. The system of claim 8, further comprising: a secondmoveable segment extending from a third segment end to a fourth segmentend.
 12. The system of claim 11, wherein the segment drive is furtheroperably connected to all of the fixed length segment, the firstmoveable segment, and the second moveable segment; wherein the segmentdrive is configured to move the first moveable segment and the secondmoveable segment relative to the fixed length segment between the firstconfiguration and the second configuration.
 13. The system of claim 12,wherein the segment drive is configured to move the second moveablesegment from between a first sidewall and a second sidewall of the rotorto align a second segment sidewall of the second moveable segment withthe first sidewall to form a substantially continuous track around therotor along the first segment sidewall, the second segment sidewall, andthe first sidewall.
 14. The system of claim 11, wherein the firstmovable segment extends from the first terminal end of the fixed lengthsegment and the second movable segment extends from the second terminalend of the fixed length segment.
 15. The system of claim 8, furthercomprising: a base having a wheel to support the gantry on a surface;wherein the gantry has a maximum height of less than five feet above thesurface.
 16. The system of claim 8, wherein the fixed length segmentdefines a volume and the source and the detector are positioned withinthe volume.
 17. A system transformable to image a subject in at leasttwo configurations, comprising: a gantry member extending from a firstgantry end to a second gantry end; a transformable rotor, having: afixed length segment extending from a first terminal end to a secondterminal end, wherein an external surface of the first fixed lengthsegment includes a first track portion, a first moveable segmentextending from a first segment end to a second segment end and having asecond track portion on an external surface of the first moveablesegment, a second moveable segment extending from a third segment end toa fourth segment end and having a third track portion on an externalsurface of the first moveable segment, a transforming driveinterconnecting the fixed length segment, the first moveable segment,and the second moveable segment, wherein the transforming drive isconfigured to move the first moveable segment and the second moveablesegment relative to the fixed length segment to transform thetransformable rotor between a first configuration and a secondconfiguration to align the first, second, and third track portions; arotor drive interconnecting the gantry member and the transformablerotor to move the transformable rotor relative to the gantry member onthe aligned first, second, and third track members; a source; a detectorsubstantially opposed to the source; wherein the source and the detectormove relative to the gantry memberwhen the rotor drive drives thetransformable rotor relative to the gantry member.
 18. The system ofclaim 17, further comprising: a base configured to be mobile andmoveable from a first location to a second location; wherein the gantrymember is moveably coupled to the base.
 19. The system of claim 17,wherein the transformable rotor in the first configuration resembles a“C” shape and in the second configuration resembles an “O” shape. 20.The system of claim 17, wherein the rotor drive and the transformingdrive are formed as a single drive connected to the fixed lengthsegment, the first moveable segment, the second moveable segment, andthe gantry to move all of the fixed length segment, the first moveablesegment and the second moveable segment.